# cmd: reset -> reset all of joints to 0 position
#      plan  -> plan 
#      pe    -> plan and execute goal position
#      ex    -> execute the current plan


# id: 

# goal_type : J, name and position be used, the positioin hold goal positions of the joints, name hold the joint names
#             W, ont position be used, hold the goal position of the end link in world coordinate,
#                it must be 7 valuse = pose [xyz] + rotation quaternion[xyzw]

std_msgs/Header header

string cmd
string id

string goal_type

string[] name
float64[] position
float64[] velocity
float64[] effort

